A Microcontroller Based Controller Circuit for the Motion Control of an Articulated Robot with Three Degrees of Freedom

Abstract

Due to the quick evolution of manufacturing processes, the demand for more flexible automation systems is on the rise. To answer these requirements, distributed motion control architecture based on intelligent drives tends more and more to replace the traditional solutions. This paper presents the control of an articulated arm robot with three degrees of freedom. The essential part of the robotic arm is a programmable microcontroller based system capable of driving basically three stepper motors design to form an anthropomorphic structure. This paper explains the method of interfacing the robotic arm stepper motors with the programmed Atmega16 microcontroller which is used to control the robot operations. C programming language is employed here in programming the microcontroller.